US20040061598A1 - Vehicle collision severity estimation system - Google Patents
Vehicle collision severity estimation system Download PDFInfo
- Publication number
- US20040061598A1 US20040061598A1 US10/065,215 US6521502A US2004061598A1 US 20040061598 A1 US20040061598 A1 US 20040061598A1 US 6521502 A US6521502 A US 6521502A US 2004061598 A1 US2004061598 A1 US 2004061598A1
- Authority
- US
- United States
- Prior art keywords
- signal
- response
- generating
- velocity
- determining
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/015—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use
- B60R21/01558—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting the presence or position of passengers, passenger seats or child seats, and the related safety parameters therefor, e.g. speed or timing of airbag inflation in relation to occupant position or seat belt use monitoring crash strength
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
- G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
- G01S7/41—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00 using analysis of echo signal for target characterisation; Target signature; Target cross-section
- G01S7/411—Identification of targets based on measurements of radar reflectivity
- G01S7/412—Identification of targets based on measurements of radar reflectivity based on a comparison between measured values and known or stored values
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
- B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
- B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
- B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T2201/00—Particular use of vehicle brake systems; Special systems using also the brakes; Special software modules within the brake system controller
- B60T2201/02—Active or adaptive cruise control system; Distance control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0019—Control system elements or transfer functions
- B60W2050/0028—Mathematical models, e.g. for simulation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/20—Static objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
- B60W2554/80—Spatial relation or speed relative to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2754/00—Output or target parameters relating to objects
- B60W2754/10—Spatial relation or speed relative to objects
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
- G01S2013/9329—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles cooperating with reflectors or transponders
Definitions
- the present invention relates generally to collision mitigation and avoidance systems for automotive vehicles, and more particularly, to a method and system for estimating collision severity between a host vehicle and an impending target object during assessment of a potential collision event.
- Collision warning and countermeasure systems are becoming more widely used. Collision warning systems and countermeasure systems can decrease the probability of and the energy imparted in a potential collision or injury. Collision warning systems provide a vehicle operator increased knowledge and awareness of threatening objects or vehicles within a close proximity so as to reduce the probability of colliding with those objects. Countermeasure systems exist in various passive and active forms. Some countermeasure systems are used to potentially decrease the energy of a collision, while others are used to aid in the prevention and reduction of injury to a vehicle operator.
- Collision warning systems and countermeasure systems currently exist in various forms. Certain collision warning systems and countermeasure systems are able to sense a vehicle or object in a close proximity to a host vehicle and warn the host vehicle operator, such that the operator can take precautionary steps to prevent a collision or injury. Other collision warning systems and countermeasure systems activate passive or active countermeasures such as air bags, load limiting seat belts, or brake control whereby the system itself aids in preventing a collision or injury.
- a good estimate of collision severity between a host vehicle and an impending target object requires knowledge of velocities and masses of both the host vehicle and the target object. Upon determining the velocities and masses of the host vehicle and the target object, kinetic energy of each is ascertainable, which may then be related to collision severity of a potential collision event.
- Velocity and mass of a host vehicle is readily obtainable.
- velocity and mass determination of the target object is more difficult to obtain.
- Current active electro-magnetic wave ranging devices such as radar and lidar are capable of measuring velocity, but are incapable of measuring mass of the target object.
- a method of determining motion properties of the object includes detecting an object and generating a first object detection signal. Velocity of the object, relative to the automotive vehicle, is determined in response to the first object detection signal and a first object velocity signal is generated. Visual parameters of the object are determined in response to the first object detection signal and an object parameter signal is generated. The motion properties of the object are determined in response to the first object velocity signal and the object parameter signal.
- a method of determining potential collision severity between the vehicle and the object is further provided.
- One of several advantages of the present invention is the ability to estimate mass of a target object. Estimation of target object mass allows for determination of target object kinetic energy, which allows for determination of potential collision severity between the host vehicle and the target object. Collision severity prediction provides increased collision countermeasure system performance by allowing collision countermeasures to tailor its response according to the particular potential collision situation and thereby further preventing injury.
- Another advantage of the present invention is system versatility and performance capability, through the use of one or more object detection sensors of various type and style.
- the combination of multiple sensor types reduces image-processing time and increases the number and accuracy of the measured object states and characteristics. This in turn increases measurement quality, which corresponds to better object classification and mass prediction.
- FIG. 1 is a block diagrammatic view of a vehicle collision severity estimation system for an automotive vehicle in accordance with an embodiment of the present invention
- FIG. 2 is a logic flow diagram illustrating a method of determining kinetic energy of an object relative to an automotive vehicle in accordance with an embodiment of the present invention.
- the present invention is described with respect to a method and system for estimating collision severity between a host vehicle and a target object during assessment of a potential collision, the present invention may be adapted to be used in various systems including: automotive vehicle systems, control systems, hybrid-electric vehicle systems, or other applications utilizing active or passive countermeasure devices.
- FIG. 1 a block diagrammatic view of a vehicle collision severity estimation system 10 for an automotive vehicle 12 in accordance with an embodiment of the present invention is shown.
- the system 10 includes one or more object detection sensors 14 .
- the object detection sensors 14 as well as a host vehicle velocity sensor 16 and countermeasure systems 18 are electrically coupled to a controller 20 .
- the controller 20 receives object detection signals from the object detection sensors 14 and a host vehicle velocity signal from the velocity sensor 16 and generates a collision countermeasure signal.
- the countermeasure devices 18 receive the collision countermeasure signal and perform a countermeasure prior to a collision event to mitigate or prevent injury during the collision event.
- the object detection sensors 14 may include one or more cameras 22 and active electro-magnetic wave-ranging devices 24 , or either alone.
- the cameras 22 may be robotic cameras or other visual imaging cameras known in the art.
- the cameras 22 may be used monocular or as a binocular (stereo) pair to obtain height, width, depth, distance, velocity, and any other visual feature information of a target object.
- the state of the art today requires a stereo pair of cameras to accurately determine distance and velocity. This however adds both cost and complexity to the system.
- the wave-ranging devices 24 may include radar, lidar, cameras with active infrared illumination, or other known wave-ranging devices known in the art.
- the wave-ranging devices 24 may also detect height, width, depth, distance and velocity information of a detected object.
- the wave-ranging devices 24 have different cost and performance limitations. Due to costs of various wave-ranging devices, present wave-ranging devices that are capable of accurately determining object height are impractical for vehicle production. Also, accuracy of inexpensive wave-ranging devices, in determining width of an object, is low due to poor clarity. Therefore, practical use of wave-ranging devices is limited to determining distance and velocity, and coarse width, of an object.
- one envisioned embodiment of the present invention includes the use of one or more cameras 22 for height and width and visual feature information and the use of wave-ranging devices 24 to determine velocity information of the target object.
- the cameras 22 generate a first object detection signal for a potentially collidable target object, which contains the height and width information.
- Target object information such as visual cues and features is also obtainable from the first object detection signal.
- the wave-ranging devices 24 generate a second object detection signal upon detecting a potentially collidable target object.
- the second object detection signal contains velocity information of the target object.
- the target object velocity information includes distance between the host vehicle 12 and the target object, range rate of the target object relative to the host vehicle 12 , and angle of the target object relative to a centerline A of the host vehicle 12 .
- System 10 is versatile in that various combinations of object detection sensors and sensor types may be utilized to satisfy various applications. Existing automotive vehicle existing object detection sensors, may also be used, minimizing the amount of addition vehicle components necessary for system 10 to operate. The combination of multiple sensor types also reduces image-processing time and increases image quality of the target object as observed from the controller 20 through the use of the object detection sensors 14 .
- the velocity sensor 16 may be of various type and style known in the art.
- the velocity sensor 16 may be a rotational sensor located on an engine, a transmission, an axle, a wheel, or other component of the host vehicle 12 as to determine traveling velocity of the host vehicle 12 .
- the sensor may be a linear accelerometer.
- the controller 20 is preferably microprocessor based such as a computer having a central processing unit, memory (RAM and/or ROM), and associated input and output buses.
- the controller 20 may be a portion of a central vehicle main control unit, an interactive vehicle dynamics module, a restraints control module, a main safety controller, or a stand-alone controller.
- the countermeasure systems 18 may include passive countermeasure systems 26 or active countermeasures systems 28 .
- the passive countermeasure systems 26 may include internal air bag control, seatbelt control, knee bolster control, head restraint control, load limiting pedal control, load limiting steering control, pretensioner control, external air bag control, and pedestrian protection control.
- Pretensioner control may include control over pyrotechnics and seat belt pretensioners.
- Air bag control may include control over front, side, curtain, hood, dash, or other type air bags.
- Pedestrian protection control may include controlling a deployable vehicle hood, a bumper system, or other pedestrian protective devices.
- the active countermeasure systems 28 may include brake control, throttle control, steering control, suspension control, transmission control, and other chassis control systems.
- the controller 20 includes an object velocity estimator 30 , an object visual parameter evaluator 32 , object classification module 34 and a motion property estimator 36 .
- the velocity estimator 30 , the parameter evaluator 32 , the classification module 34 , and the motion property estimator 36 may be software or hardware based components.
- the object velocity estimator 30 determines velocity of the object relative to the host vehicle 12 in response to the first object detection signal and generates a first object velocity signal.
- the object visual parameter evaluator 32 determines a visual parameter of the object in response to the first object detection signal and generates an object parameter signal.
- the classification module 34 determines a classification of the target object in response to the object parameter signal and generates a classification signal.
- the motion property estimator 36 determines motion properties of the object in response to the first object velocity signal and the classification signal and generates an object motion signal.
- FIG. 2 a logic flow diagram illustrating a method of determining motion properties of an object relative to the host vehicle 12 in accordance with an embodiment of the present invention, is shown.
- the cameras 22 and the wave-ranging devices 24 detect a target object and generate the first object detection signal and the second object detection signal, respectively.
- the target object may be any one or more of the following: a target vehicle, a stopped object, a moving object, a bridge, construction equipment, a sign, an animate or inanimate object, or other object.
- step 102 the velocity estimator 30 determines traveling velocity of the target object relative to the host vehicle 12 in response to the second object detection signal and generates an object velocity signal.
- the parameter evaluator 32 determines one or more parameters of the target object in response to one or both of the first object detection signal and the second object detection signal and generates an object parameter signal.
- the parameters may include object height, object width, object depth, a surface shape of the object, or other visual or non-visual object characteristics.
- step 106 the target object is classified and a classification signal is generated.
- An indefinite amount of classes may be created within the controller 20 .
- the classes may be identified using information contained within the object parameter signal such as size, shape, visual cues, visual features, or other object characteristics, which may then be correlated to various objects. For example, mass of objects in a particular class may have a given average range of mass values that correlate to a particular vehicle classification such as heavy-duty trucks, automobiles, or motorcycles.
- the object classes are identified by average cross-sectional areas or volumes of objects in each particular class.
- An area signal or a volume signal is generated in response to the object parameter signal.
- Height, width, and depth information are used as perceived from the object detection sensors 14 to determine area or volume of the target object to predict mass of the target object and generate an object mass signal in response to the area signal or the volume signal.
- the controller 20 may estimate the mass of the target object through the use of look-up tables containing the object classes corresponding to various object parameters and characteristics.
- the motion property estimator 34 determines motion properties of the target object in response to the first object velocity signal and the object parameter signal.
- Motion properties of the target object is determined in response to the object velocity signal and the object mass signal.
- Motion properties include mass and velocity of an object or any combination thereof.
- the motion properties in that they may be any combination of mass and velocity may also be kinetic energy or momentum.
- the object class is multiplied by the square of the object velocity to generate kinetic energy or momentum of the target object.
- the kinetic energy or momentum of the target object is directly related to the potential collision severity of a predicted collision event between the host vehicle 12 and the target object.
- FIG. 3 a logic flow diagram illustrating a method of performing a collision countermeasure within the host vehicle 12 in accordance with an embodiment of the present invention, is shown.
- step 110 motion properties of the host vehicle 12 are determined and a vehicle motion signal is generated.
- Kinetic energy or momentum of the host vehicle 12 is determined by multiplying a known mass of the host vehicle 12 by the squared traveling velocity of the host vehicle 12 .
- step 112 a target object is detected and an object detection signal is generated as described above, in step 100 .
- step 116 one or more parameters of the target object are determined and an object parameter signal is generated as described in step 104 .
- step 118 potential collision severity of the host vehicle 12 and the target object in response to the vehicle motion signal, the object velocity signal, and the object parameter signal is determined and a collision severity signal is generated.
- the difference in kinetic energy or momentum of the host vehicle 12 and the kinetic energy or momentum of the target object is multiplied by a class severity rating to determine collision severity.
- the kinetic energies or momentums are directly related to the collision severity such that the larger the resulting difference between the kinetic energies or momentums of the host vehicle 12 and the target object, the larger the collision severity.
- step 120 the controller 20 performs or activates a collision countermeasure 18 in response to the collision severity signal.
- the collision countermeasure 18 may be a passive countermeasure 26 or an active countermeasure 28 as described above.
- FIGS. 2 and 3 are meant to be an illustrative example, the steps may be performed synchronously or in a different order depending upon the application. The steps may also be altered to perform similar or related operations, which is also dependent upon the application.
- the present invention therefore provides an improved collision countermeasure system.
- the present invention activates collision countermeasures in a refined manner as to provide improved injury prevention. Thereby, potentially increasing safety of an automotive vehicle.
Abstract
Description
- The present invention relates generally to collision mitigation and avoidance systems for automotive vehicles, and more particularly, to a method and system for estimating collision severity between a host vehicle and an impending target object during assessment of a potential collision event.
- Collision warning and countermeasure systems are becoming more widely used. Collision warning systems and countermeasure systems can decrease the probability of and the energy imparted in a potential collision or injury. Collision warning systems provide a vehicle operator increased knowledge and awareness of threatening objects or vehicles within a close proximity so as to reduce the probability of colliding with those objects. Countermeasure systems exist in various passive and active forms. Some countermeasure systems are used to potentially decrease the energy of a collision, while others are used to aid in the prevention and reduction of injury to a vehicle operator.
- Collision warning systems and countermeasure systems currently exist in various forms. Certain collision warning systems and countermeasure systems are able to sense a vehicle or object in a close proximity to a host vehicle and warn the host vehicle operator, such that the operator can take precautionary steps to prevent a collision or injury. Other collision warning systems and countermeasure systems activate passive or active countermeasures such as air bags, load limiting seat belts, or brake control whereby the system itself aids in preventing a collision or injury.
- To further prevent injury, a better understanding and determination of collision severity is desired. Knowledge of collision severity corresponding to a potential collision event can allow for refined preventative countermeasure actions to be performed before the collision event occurs, over existing collision countermeasure systems, to further decrease the severity and probability of an injury.
- A good estimate of collision severity between a host vehicle and an impending target object requires knowledge of velocities and masses of both the host vehicle and the target object. Upon determining the velocities and masses of the host vehicle and the target object, kinetic energy of each is ascertainable, which may then be related to collision severity of a potential collision event.
- Velocity and mass of a host vehicle is readily obtainable. On the other hand velocity and mass determination of the target object is more difficult to obtain. Current active electro-magnetic wave ranging devices such as radar and lidar are capable of measuring velocity, but are incapable of measuring mass of the target object.
- Therefore, it would be desirable to provide an improved safety countermeasure system for an automotive vehicle with increased collision severity intelligence.
- The present invention provides a method and system for estimating collision severity between a host vehicle and a target object during assessment of a potential collision. A collision severity estimation system for an automotive vehicle is provided. The system includes one or more object detection sensors detecting an object and generating a first object detection signal. A controller is electrically coupled to the object detection sensors and determines motion properties of the object relative to the automotive vehicle and generates an object motion signal in response to the first object detection signal. The controller generates a collision severity signal indicative of a potential collision between the automotive vehicle and the object in response to the object motion signal.
- A method of determining motion properties of the object is also provided. The method includes detecting an object and generating a first object detection signal. Velocity of the object, relative to the automotive vehicle, is determined in response to the first object detection signal and a first object velocity signal is generated. Visual parameters of the object are determined in response to the first object detection signal and an object parameter signal is generated. The motion properties of the object are determined in response to the first object velocity signal and the object parameter signal. A method of determining potential collision severity between the vehicle and the object is further provided.
- One of several advantages of the present invention is the ability to estimate mass of a target object. Estimation of target object mass allows for determination of target object kinetic energy, which allows for determination of potential collision severity between the host vehicle and the target object. Collision severity prediction provides increased collision countermeasure system performance by allowing collision countermeasures to tailor its response according to the particular potential collision situation and thereby further preventing injury.
- Another advantage of the present invention is system versatility and performance capability, through the use of one or more object detection sensors of various type and style. The combination of multiple sensor types reduces image-processing time and increases the number and accuracy of the measured object states and characteristics. This in turn increases measurement quality, which corresponds to better object classification and mass prediction.
- The present invention itself, together with attendant advantages, will be best understood by reference to the following detailed description, taken in conjunction with the accompanying figures.
- For a more complete understanding of this invention reference should now be had to the embodiments illustrated in greater detail in the accompanying figures and described below by way of examples of the invention wherein:
- FIG. 1 is a block diagrammatic view of a vehicle collision severity estimation system for an automotive vehicle in accordance with an embodiment of the present invention;
- FIG. 2 is a logic flow diagram illustrating a method of determining kinetic energy of an object relative to an automotive vehicle in accordance with an embodiment of the present invention; and
- FIG. 3 is a logic flow diagram illustrating a method of performing a collision countermeasure within an automotive vehicle in accordance with another embodiment of the present invention.
- While the present invention is described with respect to a method and system for estimating collision severity between a host vehicle and a target object during assessment of a potential collision, the present invention may be adapted to be used in various systems including: automotive vehicle systems, control systems, hybrid-electric vehicle systems, or other applications utilizing active or passive countermeasure devices.
- In the following description, various operating parameters and components are described for one constructed embodiment. These specific parameters and components are included as examples and are not meant to be limiting.
- Referring now to FIG. 1, a block diagrammatic view of a vehicle collision
severity estimation system 10 for anautomotive vehicle 12 in accordance with an embodiment of the present invention is shown. Thesystem 10 includes one or moreobject detection sensors 14. Theobject detection sensors 14 as well as a hostvehicle velocity sensor 16 andcountermeasure systems 18 are electrically coupled to acontroller 20. Thecontroller 20 receives object detection signals from theobject detection sensors 14 and a host vehicle velocity signal from thevelocity sensor 16 and generates a collision countermeasure signal. Thecountermeasure devices 18 receive the collision countermeasure signal and perform a countermeasure prior to a collision event to mitigate or prevent injury during the collision event. - The
object detection sensors 14 may include one ormore cameras 22 and active electro-magnetic wave-rangingdevices 24, or either alone. Thecameras 22 may be robotic cameras or other visual imaging cameras known in the art. Thecameras 22 may be used monocular or as a binocular (stereo) pair to obtain height, width, depth, distance, velocity, and any other visual feature information of a target object. The state of the art today requires a stereo pair of cameras to accurately determine distance and velocity. This however adds both cost and complexity to the system. The wave-rangingdevices 24 may include radar, lidar, cameras with active infrared illumination, or other known wave-ranging devices known in the art. The wave-rangingdevices 24 may also detect height, width, depth, distance and velocity information of a detected object. As opposing to thecameras 22 the wave-rangingdevices 24 have different cost and performance limitations. Due to costs of various wave-ranging devices, present wave-ranging devices that are capable of accurately determining object height are impractical for vehicle production. Also, accuracy of inexpensive wave-ranging devices, in determining width of an object, is low due to poor clarity. Therefore, practical use of wave-ranging devices is limited to determining distance and velocity, and coarse width, of an object. - Thus, one envisioned embodiment of the present invention includes the use of one or
more cameras 22 for height and width and visual feature information and the use of wave-rangingdevices 24 to determine velocity information of the target object. Thecameras 22 generate a first object detection signal for a potentially collidable target object, which contains the height and width information. Target object information such as visual cues and features is also obtainable from the first object detection signal. The wave-rangingdevices 24 generate a second object detection signal upon detecting a potentially collidable target object. The second object detection signal contains velocity information of the target object. The target object velocity information includes distance between thehost vehicle 12 and the target object, range rate of the target object relative to thehost vehicle 12, and angle of the target object relative to a centerline A of thehost vehicle 12. -
System 10 is versatile in that various combinations of object detection sensors and sensor types may be utilized to satisfy various applications. Existing automotive vehicle existing object detection sensors, may also be used, minimizing the amount of addition vehicle components necessary forsystem 10 to operate. The combination of multiple sensor types also reduces image-processing time and increases image quality of the target object as observed from thecontroller 20 through the use of theobject detection sensors 14. - The
velocity sensor 16 may be of various type and style known in the art. Thevelocity sensor 16 may be a rotational sensor located on an engine, a transmission, an axle, a wheel, or other component of thehost vehicle 12 as to determine traveling velocity of thehost vehicle 12. Or, the sensor may be a linear accelerometer. - The
controller 20 is preferably microprocessor based such as a computer having a central processing unit, memory (RAM and/or ROM), and associated input and output buses. Thecontroller 20 may be a portion of a central vehicle main control unit, an interactive vehicle dynamics module, a restraints control module, a main safety controller, or a stand-alone controller. - The
countermeasure systems 18 may includepassive countermeasure systems 26 oractive countermeasures systems 28. Thepassive countermeasure systems 26 may include internal air bag control, seatbelt control, knee bolster control, head restraint control, load limiting pedal control, load limiting steering control, pretensioner control, external air bag control, and pedestrian protection control. Pretensioner control may include control over pyrotechnics and seat belt pretensioners. Air bag control may include control over front, side, curtain, hood, dash, or other type air bags. Pedestrian protection control may include controlling a deployable vehicle hood, a bumper system, or other pedestrian protective devices. Theactive countermeasure systems 28 may include brake control, throttle control, steering control, suspension control, transmission control, and other chassis control systems. - The
controller 20 includes anobject velocity estimator 30, an objectvisual parameter evaluator 32, objectclassification module 34 and amotion property estimator 36. Thevelocity estimator 30, theparameter evaluator 32, theclassification module 34, and themotion property estimator 36 may be software or hardware based components. Theobject velocity estimator 30 determines velocity of the object relative to thehost vehicle 12 in response to the first object detection signal and generates a first object velocity signal. The objectvisual parameter evaluator 32 determines a visual parameter of the object in response to the first object detection signal and generates an object parameter signal. Theclassification module 34 determines a classification of the target object in response to the object parameter signal and generates a classification signal. Themotion property estimator 36 determines motion properties of the object in response to the first object velocity signal and the classification signal and generates an object motion signal. - Referring now to FIG. 2, a logic flow diagram illustrating a method of determining motion properties of an object relative to the
host vehicle 12 in accordance with an embodiment of the present invention, is shown. - In
step 100, thecameras 22 and the wave-rangingdevices 24 detect a target object and generate the first object detection signal and the second object detection signal, respectively. The target object may be any one or more of the following: a target vehicle, a stopped object, a moving object, a bridge, construction equipment, a sign, an animate or inanimate object, or other object. - In
step 102, thevelocity estimator 30 determines traveling velocity of the target object relative to thehost vehicle 12 in response to the second object detection signal and generates an object velocity signal. - In step104, the
parameter evaluator 32 determines one or more parameters of the target object in response to one or both of the first object detection signal and the second object detection signal and generates an object parameter signal. The parameters may include object height, object width, object depth, a surface shape of the object, or other visual or non-visual object characteristics. - In
step 106, the target object is classified and a classification signal is generated. An indefinite amount of classes may be created within thecontroller 20. The classes may be identified using information contained within the object parameter signal such as size, shape, visual cues, visual features, or other object characteristics, which may then be correlated to various objects. For example, mass of objects in a particular class may have a given average range of mass values that correlate to a particular vehicle classification such as heavy-duty trucks, automobiles, or motorcycles. - In one embodiment of the present invention, the object classes are identified by average cross-sectional areas or volumes of objects in each particular class. An area signal or a volume signal is generated in response to the object parameter signal. Height, width, and depth information are used as perceived from the
object detection sensors 14 to determine area or volume of the target object to predict mass of the target object and generate an object mass signal in response to the area signal or the volume signal. Thecontroller 20 may estimate the mass of the target object through the use of look-up tables containing the object classes corresponding to various object parameters and characteristics. - In
step 108, themotion property estimator 34 determines motion properties of the target object in response to the first object velocity signal and the object parameter signal. Motion properties of the target object is determined in response to the object velocity signal and the object mass signal. Motion properties include mass and velocity of an object or any combination thereof. The motion properties in that they may be any combination of mass and velocity may also be kinetic energy or momentum. The object class is multiplied by the square of the object velocity to generate kinetic energy or momentum of the target object. The kinetic energy or momentum of the target object is directly related to the potential collision severity of a predicted collision event between thehost vehicle 12 and the target object. - Referring now to FIG. 3, a logic flow diagram illustrating a method of performing a collision countermeasure within the
host vehicle 12 in accordance with an embodiment of the present invention, is shown. - In
step 110, motion properties of thehost vehicle 12 are determined and a vehicle motion signal is generated. Kinetic energy or momentum of thehost vehicle 12 is determined by multiplying a known mass of thehost vehicle 12 by the squared traveling velocity of thehost vehicle 12. - In
step 112, a target object is detected and an object detection signal is generated as described above, instep 100. - In
step 114, velocity of the target object is determined in response to the object detection signal and an object velocity signal is generated as stated above, instep 102. - In step116, one or more parameters of the target object are determined and an object parameter signal is generated as described in step 104.
- In
step 118, potential collision severity of thehost vehicle 12 and the target object in response to the vehicle motion signal, the object velocity signal, and the object parameter signal is determined and a collision severity signal is generated. The difference in kinetic energy or momentum of thehost vehicle 12 and the kinetic energy or momentum of the target object is multiplied by a class severity rating to determine collision severity. The kinetic energies or momentums are directly related to the collision severity such that the larger the resulting difference between the kinetic energies or momentums of thehost vehicle 12 and the target object, the larger the collision severity. - In
step 120, thecontroller 20 performs or activates acollision countermeasure 18 in response to the collision severity signal. Thecollision countermeasure 18 may be apassive countermeasure 26 or anactive countermeasure 28 as described above. - The above-described steps in FIGS. 2 and 3 are meant to be an illustrative example, the steps may be performed synchronously or in a different order depending upon the application. The steps may also be altered to perform similar or related operations, which is also dependent upon the application.
- The present invention therefore provides an improved collision countermeasure system. In predicting kinetic energy of an impending object the present invention activates collision countermeasures in a refined manner as to provide improved injury prevention. Thereby, potentially increasing safety of an automotive vehicle.
- The above-described apparatus, to one skilled in the art, is capable of being adapted for various purposes and is not limited to the following systems: automotive vehicle systems, control systems, hybrid-electric vehicle systems, or other applications utilizing active or passive countermeasure devices. The above-described invention may also be varied without deviating from the spirit and scope of the invention as contemplated by the following claims.
Claims (20)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/065,215 US6917305B2 (en) | 2002-09-26 | 2002-09-26 | Vehicle collision severity estimation system |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/065,215 US6917305B2 (en) | 2002-09-26 | 2002-09-26 | Vehicle collision severity estimation system |
Publications (2)
Publication Number | Publication Date |
---|---|
US20040061598A1 true US20040061598A1 (en) | 2004-04-01 |
US6917305B2 US6917305B2 (en) | 2005-07-12 |
Family
ID=32028499
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/065,215 Expired - Lifetime US6917305B2 (en) | 2002-09-26 | 2002-09-26 | Vehicle collision severity estimation system |
Country Status (1)
Country | Link |
---|---|
US (1) | US6917305B2 (en) |
Cited By (29)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6092320A (en) * | 1983-10-26 | 1985-05-23 | Toyo Tire & Rubber Co Ltd | High-molecular weight polyfunctional epoxy resin |
EP1585083A2 (en) * | 2004-04-07 | 2005-10-12 | Robert Bosch Gmbh | Method and apparatus for warning a vehicle driver |
FR2887669A3 (en) * | 2005-06-27 | 2006-12-29 | Renault Sas | Motor vehicle and pedestrian impact predicting system, has unit receiving information on detected pedestrian, vehicle, and driver behavior and delivering impact prediction information to counter-measure systems triggered based on thresholds |
US20080218381A1 (en) * | 2007-03-05 | 2008-09-11 | Buckley Stephen J | Occupant exit alert system |
FR2915160A1 (en) * | 2007-04-19 | 2008-10-24 | Renault Sas | Driving assisting device for car, has rear sensor measuring distance separating vehicle from its follower vehicle, and controller receiving signals from front and rear sensors and controlling actuator with setpoint function of signals |
US20090326796A1 (en) * | 2008-06-26 | 2009-12-31 | Toyota Motor Engineering & Manufacturing North America, Inc. | Method and system to estimate driving risk based on a heirarchical index of driving |
EP2168815A1 (en) * | 2008-09-24 | 2010-03-31 | Robert Bosch GmbH | Method and device for detecting possibly colliding objects in a blind spot area |
EP2048039A3 (en) * | 2007-10-12 | 2010-05-19 | Ford Global Technologies, LLC | Post impact safety system with vehicle contact information. |
WO2010115965A1 (en) * | 2009-04-09 | 2010-10-14 | Jost-Werke Gmbh | Method and control system for a fifth wheel coupling sliding device having a distance measurement for detecting obstructions |
DE102012021461A1 (en) | 2012-10-31 | 2013-05-08 | Daimler Ag | Method for vehicle classification, such as vehicle size, vehicle mass and type of vehicle, for operating driving assistance device, involves detecting wheel of vehicle by radar sensor, and generating super-positioned overall signal |
WO2014075783A1 (en) * | 2012-11-15 | 2014-05-22 | Audi Ag | Method and device for controlling a seat belt device, which is connected to a seat belt, of a vehicle with a predictive collision identification unit |
GB2520493A (en) * | 2013-11-20 | 2015-05-27 | Univ Coventry | Active buckling control |
EP3007151A4 (en) * | 2013-05-31 | 2017-02-22 | Hitachi Automotive Systems, Ltd. | Vehicular risk alert control device |
EP3208165A1 (en) * | 2016-01-21 | 2017-08-23 | Volvo Car Corporation | Vehicle safety assist system |
EP2546817A4 (en) * | 2010-03-12 | 2018-04-11 | UD Trucks Corporation | Safe vehicle driving facilitating system |
DE102016121428A1 (en) * | 2016-11-09 | 2018-05-09 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Method and device for securing a land vehicle against an impact |
US20190024350A1 (en) * | 2017-07-19 | 2019-01-24 | Google Inc. | User friendly systems and devices facilitating water conservation in the smart home |
US10279786B2 (en) * | 2016-12-06 | 2019-05-07 | Aptiv Technologies Limited | Automatic braking system |
US10317910B2 (en) * | 2014-01-30 | 2019-06-11 | Mobileye Vision Technologies Ltd. | Systems and methods for detecting low-height objects in a roadway |
DE102018202469A1 (en) * | 2018-02-19 | 2019-08-22 | Audi Ag | Method for determining the height of a motor vehicle and motor vehicle |
WO2020058654A1 (en) * | 2018-09-21 | 2020-03-26 | Seva Technologies | Method and system for controlling the deployment of an external inflatable pedestrian safety structure equipping a vehicle, and pedestrian protection equipment integrating said system |
WO2020229515A1 (en) * | 2019-05-14 | 2020-11-19 | Eyyes Gmbh | Method for displaying and/or calculating a relative movement |
US10913434B2 (en) | 2017-06-01 | 2021-02-09 | Aptiv Technologies Limited | Automatic braking system for slow moving objects |
US10940857B2 (en) * | 2016-12-09 | 2021-03-09 | Lg Electronics Inc. | Driving control apparatus for a vehicle |
CN112660054A (en) * | 2021-01-05 | 2021-04-16 | 北京家人智能科技有限公司 | Method and device for triggering external airbags in grading manner and electronic equipment |
US20210347321A1 (en) * | 2020-05-06 | 2021-11-11 | Magna Electronics Inc. | Vehicular collision detection system with safety feature control functions responsive to estimation of collision severity |
US11436878B2 (en) * | 2015-09-09 | 2022-09-06 | Valeo Schalter Und Sensoren Gmbh | Method for determining the severity of a possible collision between a motor vehicle and another vehicle, control apparatus, driver assistance system and a motor vehicle |
US20230399026A1 (en) * | 2022-06-08 | 2023-12-14 | Ford Global Technologies, Llc | State Identification For Road Actors With Uncertain Measurements Based On Compliant Priors |
US11958424B2 (en) * | 2021-05-05 | 2024-04-16 | Magna Electronics Inc. | Vehicular collision detection system with safety feature control functions responsive to estimation of collision severity |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7630806B2 (en) * | 1994-05-23 | 2009-12-08 | Automotive Technologies International, Inc. | System and method for detecting and protecting pedestrians |
JP4578795B2 (en) * | 2003-03-26 | 2010-11-10 | 富士通テン株式会社 | Vehicle control device, vehicle control method, and vehicle control program |
JP4066882B2 (en) * | 2003-05-22 | 2008-03-26 | トヨタ自動車株式会社 | Control device and control method for in-vehicle fuel cell power generation system |
JP3941770B2 (en) * | 2003-10-28 | 2007-07-04 | 株式会社デンソー | Collision possibility judgment device |
DE102007040539B4 (en) * | 2006-09-04 | 2014-03-27 | Denso Corporation | Vehicle control system |
US20090265069A1 (en) * | 2008-04-17 | 2009-10-22 | Herman Desbrunes | Land vehicle braking system |
JP5345350B2 (en) * | 2008-07-30 | 2013-11-20 | 富士重工業株式会社 | Vehicle driving support device |
IT1402544B1 (en) * | 2010-10-29 | 2013-09-13 | Dainese Spa | EQUIPMENT, SYSTEM AND PROCEDURE FOR PERSONAL PROTECTION |
IT1402546B1 (en) | 2010-10-29 | 2013-09-13 | Dainese Spa | APPLIANCES, SYSTEM AND PROCEDURE FOR PROTECTIVE CLOTHING |
IT1402545B1 (en) | 2010-10-29 | 2013-09-13 | Cefriel Società Consortile A Responsabilità Limitata | APPLIANCES, SYSTEM AND PROCEDURE TO DETECT ACCIDENTS |
DE102012015272A1 (en) * | 2012-07-31 | 2014-02-06 | Audi Ag | Method for efficiently safeguarding safety-critical functions of a control device and control device |
US9849852B1 (en) * | 2015-09-04 | 2017-12-26 | Waymo Llc | Intelligent deployment of safety mechanisms for autonomous vehicles |
US9817397B1 (en) | 2015-09-04 | 2017-11-14 | Waymo Llc | Active safety mechanisms for an autonomous vehicle |
US9802568B1 (en) | 2015-09-04 | 2017-10-31 | Waymo Llc | Interlocking vehicle airbags |
US10207583B2 (en) * | 2016-08-22 | 2019-02-19 | Ford Global Technologies, Llc | Post-impact control system |
US11203318B2 (en) | 2018-06-18 | 2021-12-21 | Waymo Llc | Airbag extension system |
CN108973854A (en) * | 2018-06-28 | 2018-12-11 | 四川复海生态环保科技有限责任公司 | For preventing the system and method for vehicle traffic accident |
Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5339242A (en) * | 1991-11-26 | 1994-08-16 | Delco Electronics Corp. | Method and apparatus for vehicle crash discrimination based on oscillation and energy content |
US5959552A (en) * | 1996-05-20 | 1999-09-28 | Cho; Myungeun | System for minimizing automobile collision damage and personal injury |
US6173224B1 (en) * | 1998-07-17 | 2001-01-09 | Ford Global Technologies, Inc. | Occupant-restraint deployment method and system for automotive vehicle |
US6199903B1 (en) * | 1998-04-17 | 2001-03-13 | Daimlerchrysler Ag | Method for triggering a two-stage air bag gas generator |
US6300866B1 (en) * | 1998-11-19 | 2001-10-09 | Bayerische Motoren Werke Aktiengesellschaft | Method for determining the severity of a vehicle collision |
US6327536B1 (en) * | 1999-06-23 | 2001-12-04 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle environment monitoring system |
US6337638B1 (en) * | 2000-04-25 | 2002-01-08 | International Business Machines Corporation | Vehicle warning system and method based on speed differential |
US6359553B1 (en) * | 1998-06-26 | 2002-03-19 | Volkswagen Ag | Method and control arrangement for minimizing consequences of accidents |
US6370475B1 (en) * | 1997-10-22 | 2002-04-09 | Intelligent Technologies International Inc. | Accident avoidance system |
US6480144B1 (en) * | 2002-01-30 | 2002-11-12 | Ford Global Technologies, Inc. | Wireless communication between countermeasure devices |
US6593873B2 (en) * | 2000-07-26 | 2003-07-15 | Denso Corporation | Obstacle recognition system for automotive vehicle |
-
2002
- 2002-09-26 US US10/065,215 patent/US6917305B2/en not_active Expired - Lifetime
Patent Citations (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5339242A (en) * | 1991-11-26 | 1994-08-16 | Delco Electronics Corp. | Method and apparatus for vehicle crash discrimination based on oscillation and energy content |
US5959552A (en) * | 1996-05-20 | 1999-09-28 | Cho; Myungeun | System for minimizing automobile collision damage and personal injury |
US6370475B1 (en) * | 1997-10-22 | 2002-04-09 | Intelligent Technologies International Inc. | Accident avoidance system |
US6199903B1 (en) * | 1998-04-17 | 2001-03-13 | Daimlerchrysler Ag | Method for triggering a two-stage air bag gas generator |
US6359553B1 (en) * | 1998-06-26 | 2002-03-19 | Volkswagen Ag | Method and control arrangement for minimizing consequences of accidents |
US6173224B1 (en) * | 1998-07-17 | 2001-01-09 | Ford Global Technologies, Inc. | Occupant-restraint deployment method and system for automotive vehicle |
US6300866B1 (en) * | 1998-11-19 | 2001-10-09 | Bayerische Motoren Werke Aktiengesellschaft | Method for determining the severity of a vehicle collision |
US6327536B1 (en) * | 1999-06-23 | 2001-12-04 | Honda Giken Kogyo Kabushiki Kaisha | Vehicle environment monitoring system |
US6337638B1 (en) * | 2000-04-25 | 2002-01-08 | International Business Machines Corporation | Vehicle warning system and method based on speed differential |
US6593873B2 (en) * | 2000-07-26 | 2003-07-15 | Denso Corporation | Obstacle recognition system for automotive vehicle |
US6480144B1 (en) * | 2002-01-30 | 2002-11-12 | Ford Global Technologies, Inc. | Wireless communication between countermeasure devices |
Cited By (42)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS6092320A (en) * | 1983-10-26 | 1985-05-23 | Toyo Tire & Rubber Co Ltd | High-molecular weight polyfunctional epoxy resin |
EP1585083A2 (en) * | 2004-04-07 | 2005-10-12 | Robert Bosch Gmbh | Method and apparatus for warning a vehicle driver |
EP1585083A3 (en) * | 2004-04-07 | 2006-09-13 | Robert Bosch Gmbh | Method and apparatus for warning a vehicle driver |
FR2887669A3 (en) * | 2005-06-27 | 2006-12-29 | Renault Sas | Motor vehicle and pedestrian impact predicting system, has unit receiving information on detected pedestrian, vehicle, and driver behavior and delivering impact prediction information to counter-measure systems triggered based on thresholds |
US20080218381A1 (en) * | 2007-03-05 | 2008-09-11 | Buckley Stephen J | Occupant exit alert system |
FR2915160A1 (en) * | 2007-04-19 | 2008-10-24 | Renault Sas | Driving assisting device for car, has rear sensor measuring distance separating vehicle from its follower vehicle, and controller receiving signals from front and rear sensors and controlling actuator with setpoint function of signals |
EP2048039A3 (en) * | 2007-10-12 | 2010-05-19 | Ford Global Technologies, LLC | Post impact safety system with vehicle contact information. |
US7904223B2 (en) | 2007-10-12 | 2011-03-08 | Ford Global Technologies, Llc | Post impact safety system with vehicle contact information |
US8160811B2 (en) * | 2008-06-26 | 2012-04-17 | Toyota Motor Engineering & Manufacturing North America, Inc. | Method and system to estimate driving risk based on a hierarchical index of driving |
US20090326796A1 (en) * | 2008-06-26 | 2009-12-31 | Toyota Motor Engineering & Manufacturing North America, Inc. | Method and system to estimate driving risk based on a heirarchical index of driving |
EP2168815A1 (en) * | 2008-09-24 | 2010-03-31 | Robert Bosch GmbH | Method and device for detecting possibly colliding objects in a blind spot area |
US8297639B2 (en) | 2009-04-09 | 2012-10-30 | Jost-Werke Gmbh | Method and control system for a fifth wheel coupling sliding device having a distance measurement for detecting obstructions |
WO2010115965A1 (en) * | 2009-04-09 | 2010-10-14 | Jost-Werke Gmbh | Method and control system for a fifth wheel coupling sliding device having a distance measurement for detecting obstructions |
EP2546817A4 (en) * | 2010-03-12 | 2018-04-11 | UD Trucks Corporation | Safe vehicle driving facilitating system |
DE102012021461A1 (en) | 2012-10-31 | 2013-05-08 | Daimler Ag | Method for vehicle classification, such as vehicle size, vehicle mass and type of vehicle, for operating driving assistance device, involves detecting wheel of vehicle by radar sensor, and generating super-positioned overall signal |
WO2014075783A1 (en) * | 2012-11-15 | 2014-05-22 | Audi Ag | Method and device for controlling a seat belt device, which is connected to a seat belt, of a vehicle with a predictive collision identification unit |
US20150298636A1 (en) * | 2012-11-15 | 2015-10-22 | Audi Ag | Method and device for controlling a seat belt device, which is connected to a seat belt, of a vehicle with a predictive collision detection unit |
JP2016501150A (en) * | 2012-11-15 | 2016-01-18 | アウディ アクチェンゲゼルシャフトAudi Ag | Method and apparatus for controlling a seat belt device connected to a seat belt of a vehicle having a predictive collision recognition unit |
US9387819B2 (en) * | 2012-11-15 | 2016-07-12 | Audi Ag | Method and device for controlling a seat belt device, which is connected to a seat belt, of a vehicle with a predictive collision detection unit |
EP3007151A4 (en) * | 2013-05-31 | 2017-02-22 | Hitachi Automotive Systems, Ltd. | Vehicular risk alert control device |
GB2520493A (en) * | 2013-11-20 | 2015-05-27 | Univ Coventry | Active buckling control |
US9789831B2 (en) | 2013-11-20 | 2017-10-17 | Coventry University | Method of managing collisions between a plurality of vehicles and vehicle applying such a method |
US10317910B2 (en) * | 2014-01-30 | 2019-06-11 | Mobileye Vision Technologies Ltd. | Systems and methods for detecting low-height objects in a roadway |
US11402851B2 (en) * | 2014-01-30 | 2022-08-02 | Mobileye Vision Technologies Ltd. | Systems and methods for detecting low-height objects in a roadway |
US11436878B2 (en) * | 2015-09-09 | 2022-09-06 | Valeo Schalter Und Sensoren Gmbh | Method for determining the severity of a possible collision between a motor vehicle and another vehicle, control apparatus, driver assistance system and a motor vehicle |
EP3208165A1 (en) * | 2016-01-21 | 2017-08-23 | Volvo Car Corporation | Vehicle safety assist system |
US10053067B2 (en) | 2016-01-21 | 2018-08-21 | Volvo Car Corporation | Vehicle safety assist system |
DE102016121428A1 (en) * | 2016-11-09 | 2018-05-09 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Method and device for securing a land vehicle against an impact |
US10279786B2 (en) * | 2016-12-06 | 2019-05-07 | Aptiv Technologies Limited | Automatic braking system |
US10940857B2 (en) * | 2016-12-09 | 2021-03-09 | Lg Electronics Inc. | Driving control apparatus for a vehicle |
US10913434B2 (en) | 2017-06-01 | 2021-02-09 | Aptiv Technologies Limited | Automatic braking system for slow moving objects |
US10745893B2 (en) * | 2017-07-19 | 2020-08-18 | Google Llc | User friendly systems and devices facilitating water conservation in the smart home |
US20190024350A1 (en) * | 2017-07-19 | 2019-01-24 | Google Inc. | User friendly systems and devices facilitating water conservation in the smart home |
DE102018202469A1 (en) * | 2018-02-19 | 2019-08-22 | Audi Ag | Method for determining the height of a motor vehicle and motor vehicle |
FR3086234A1 (en) * | 2018-09-21 | 2020-03-27 | Seva Technologies | METHOD AND SYSTEM FOR CONTROLLING THE DEPLOYMENT OF AN EXTERNAL INFLATABLE PEDESTRIAN SAFETY STRUCTURE EQUIPPED WITH A VEHICLE, AND PEDESTRIAN PROTECTIVE EQUIPMENT INCLUDING THIS SYSTEM |
WO2020058654A1 (en) * | 2018-09-21 | 2020-03-26 | Seva Technologies | Method and system for controlling the deployment of an external inflatable pedestrian safety structure equipping a vehicle, and pedestrian protection equipment integrating said system |
WO2020229515A1 (en) * | 2019-05-14 | 2020-11-19 | Eyyes Gmbh | Method for displaying and/or calculating a relative movement |
US11745655B2 (en) | 2019-05-14 | 2023-09-05 | Eyyes Gmbh | Method for displaying and/or calculating a relative movement |
US20210347321A1 (en) * | 2020-05-06 | 2021-11-11 | Magna Electronics Inc. | Vehicular collision detection system with safety feature control functions responsive to estimation of collision severity |
CN112660054A (en) * | 2021-01-05 | 2021-04-16 | 北京家人智能科技有限公司 | Method and device for triggering external airbags in grading manner and electronic equipment |
US11958424B2 (en) * | 2021-05-05 | 2024-04-16 | Magna Electronics Inc. | Vehicular collision detection system with safety feature control functions responsive to estimation of collision severity |
US20230399026A1 (en) * | 2022-06-08 | 2023-12-14 | Ford Global Technologies, Llc | State Identification For Road Actors With Uncertain Measurements Based On Compliant Priors |
Also Published As
Publication number | Publication date |
---|---|
US6917305B2 (en) | 2005-07-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US6917305B2 (en) | Vehicle collision severity estimation system | |
US7447592B2 (en) | Path estimation and confidence level determination system for a vehicle | |
US7480570B2 (en) | Feature target selection for countermeasure performance within a vehicle | |
US7389171B2 (en) | Single vision sensor object detection system | |
JP4072059B2 (en) | Method for triggering occupant restraint in an automobile | |
US6519519B1 (en) | Passive countermeasure methods | |
US6721659B2 (en) | Collision warning and safety countermeasure system | |
US20060091654A1 (en) | Sensor system with radar sensor and vision sensor | |
US20090299576A1 (en) | Motor vehicle having a preventive protection system | |
US20070131468A1 (en) | Motor vehicle provided with a pre-safe system | |
US6784791B2 (en) | Potential collision detection and parking aid system | |
DE102004051365A1 (en) | Collision prediction unit for a vehicle | |
US11560108B2 (en) | Vehicle safety system and method implementing weighted active-passive crash mode classification | |
US20210284091A1 (en) | Vehicle safety system implementing integrated active-passive front impact control algorithm | |
US7636625B2 (en) | Device for classifying at least one object with the aid of an environmental sensor system | |
CN110799383B (en) | Rear portion anticollision safety coefficient | |
US6864783B2 (en) | Potential collision detection and reversing aid system | |
US10391962B2 (en) | Method for activating a passenger protection device of a vehicle and a control unit | |
CN113677566A (en) | Low impact detection for autonomous vehicles | |
KR20230005556A (en) | Apparatus for collision waring and vehicle including the same | |
US11220260B2 (en) | Apparatus and method for controlling safety equipment of vehicle | |
KR101596995B1 (en) | Impact absorption method for vehicles | |
KR20230005543A (en) | Apparatus for collision waring and vehicle including the same | |
KR20150097940A (en) | Apparatus for developing of airbag in a vehicle and control method thereof |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: FORD GLOBAL TECHNOLOGIES, INC., MICHIGAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:FORD MOTOR COMPANY;REEL/FRAME:013122/0931 Effective date: 20020924 Owner name: FORD MOTOR COMPANY, MICHIGAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNOR:KING, ANTHONY GERALD;REEL/FRAME:013122/0929 Effective date: 20020916 |
|
AS | Assignment |
Owner name: FORD GLOBAL TECHNOLOGIES, LLC, MICHIGAN Free format text: MERGER;ASSIGNOR:FORD GLOBAL TECHNOLOGIES, INC.;REEL/FRAME:013987/0838 Effective date: 20030301 Owner name: FORD GLOBAL TECHNOLOGIES, LLC,MICHIGAN Free format text: MERGER;ASSIGNOR:FORD GLOBAL TECHNOLOGIES, INC.;REEL/FRAME:013987/0838 Effective date: 20030301 |
|
STCF | Information on status: patent grant |
Free format text: PATENTED CASE |
|
FPAY | Fee payment |
Year of fee payment: 4 |
|
FPAY | Fee payment |
Year of fee payment: 8 |
|
FPAY | Fee payment |
Year of fee payment: 12 |